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Modelling and control of the GreenWeeder for crop row tracking

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4 Author(s)
Kim Son Dang ; School of Mechanical and Manufacturing Engineering, The University of New South Wales, Sydney 2052, Australia ; Jayantha Katupitiya ; Ray Eaton ; Ngai M. Kwok

GreenWeeder is a non-herbicidal autonomous weeding robot that is being developed to autonomously track crop rows to target inter-row spacing for weeding through electrocution. This work presents the experimental system identification to identify the steering system dynamics and the development of a controller to track an especially laid strip mimicking a crop row. The results of the designed controller are presented and analyzed in order to improve the performance as well as the accuracy of the robot lateral deviation from the crop rows.

Published in:

Advanced Robotics, 2009. ICAR 2009. International Conference on

Date of Conference:

22-26 June 2009